Packet switched communication networks, as e.g. the Internet, are very attractive for the transmission of haptic information between the operator and the teleoperator side. As a result of the haptic coupling a global control loop is closed through the packet switched communication network with the human and the environment being part of it. Without further control measures the intrinsic communication unreliabilities such as time delay, packet loss and limited communication bandwidth may render the haptic telepresence system unstable. In many interesting applications like subaqeous and space telepresence as well as wireless networks communication bandwidth is an issue, and data exchange has to be reduced. We are interested in the development of haptic data compression algorithms that preserve stability of the system and do not degrade transparency, as well as control algorithms capable to deal with time delay and packet loss. We aim at utilizing the knowledge of human haptic perception limits for the control design. Important is also the characterization of the trade-off between performance, stability robustness and communication utilities.

• Passive control strategies under (random) time delay and packet loss
• Stability condition for classes of haptic data compression methods
• Perception-oriented control design